Fiber Reinforced Elastomeric Sheets for Soft Robotics
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Solution Overview
Problem
Rigid robotic structures are prone to critical failure under stress disturbances and lack flexibility in applications like tactile sensing and prosthetics, while traditional rigid actuators inefficiently drive motion in soft structures due to large torque transmission through small contact points.
Innovation Solution
The development of fiber-reinforced elastomeric sheets with embedded fibers of higher tensile modulus, which provide customizable anisotropic stress-strain properties to enhance the output of soft actuators, reduce the number of actuators required, and control deformation in soft systems by allowing expansion in preferred directions while restricting unwanted deformation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid structures are used in robotic systems, then structural strength and stability are improved, but flexibility and resistance to stress disturbances deteriorate
Solution Approach 1:
The patent employs composite materials consisting of an elastomeric matrix reinforced with high-tensile-modulus fibers arranged in specific patterns. This composite structure combines the flexibility and stress absorption capabilities of the elastomeric material with the strength and stiffness of the embedded fibers, resolving the contradiction between structural strength and flexibility by integrating both material types into a unified composite system that exhibits both properties simultaneously.
Solution Approach 2:
The patent applies local quality by varying the fiber orientation, density, and arrangement in different regions of the elastomeric structure. Specific fiber patterns are implemented in different zones to provide localized structural support where needed while maintaining flexibility in other areas, allowing the structure to have both strength and adaptability in different spatial locations rather than uniform properties throughout.
2Force
If traditional rigid actuators are used to drive soft structures, then actuation force is improved, but efficiency and contact point stress deteriorate
Solution Approach 1:
The patent replaces traditional rigid actuators with flexible actuation mechanisms integrated into the elastomeric structure itself. The soft actuator design uses the compliant nature of the elastomeric material to distribute actuation forces across larger contact areas, reducing stress concentrations and improving energy efficiency while maintaining adequate actuation force through the engineered fiber reinforcement patterns.
Solution Approach 2:
The patent substitutes traditional mechanical actuation systems with high-torque transmission through small contact points with a distributed soft actuation mechanism. The fiber-reinforced elastomeric structure enables actuation through material deformation and fiber tensioning rather than rigid mechanical linkages, fundamentally changing the mechanical transmission approach to achieve both sufficient force and improved efficiency.
3Stability of the object's composition
If fiber reinforcement is added to elastomeric sheets, then structural support and deformation control are improved, but manufacturing complexity increases
Solution Approach 1:
The patent segments the fiber reinforcement into discrete patterns and orientations embedded within the elastomeric matrix. Rather than using random or uniform fiber distribution, the fibers are arranged in specific segmented patterns that provide deformation control in targeted directions. This segmentation approach achieves effective structural support while simplifying the manufacturing process compared to more complex continuous fiber composite techniques.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables improved expansion and deformation control in soft actuators, reducing energy consumption and enhancing performance in soft robotics and other applications by providing structural support and damping capabilities.
Implementation Method 1
a fiber array comprising a plurality of fibers embedded within the elastomeric matrix. Each fiber of the array of fibers has a tensile modulus that is significantly greater than the tensile modulus of the elastomeric matrix
Data Source
AI summary
A soft structure fiber reinforcement technology is provided. In an example embodiment, the fiber reinforced elastomeric sheet comprises a sheet of elastomeric matrix; and a fiber array comprising a plurality of fibers embedded within the elastomeric matrix. Each fiber of the array of fibers has a tensile modulus that is significantly greater than the tensile modulus of the elastomeric matrix. The fiber reinforced elastomeric sheets may be used in grasping or gripping robots, walking or jumping robots, artificial muscles, compliant prosthetics, impact and/or vibration dampening soft structures, passive soft structure configured to passively restrict deformation in an unwanted direction while allowing deformation in another direction, and/or the like.